On both. People must cultivate proper relationships with their peers just as much as they form a connection with God.
A famous story in the Talmud illustrates this idea:
A gentile came to Hillel and said, “Convert me on condition that you teach me the whole Torah while standing on one foot.” Hillel said, “That which is hateful unto you, do not do unto your friend – that is the whole torah. The rest is commentary, go and learn.”
Rashi explains that Hillel is referring to two “friends”: The Creator, Who is called “your Friend” in Jewish texts, and to our literal “friends”, our fellow human beings. Acting with an awareness of and sensitivity toward the desires of both of these “friends” is the essence of Judaism. All of the laws and commandments are “commentaries” on exactly how to avoid doing that which “is hateful unto” your friend.